CN107623388A - Wireless power transmission method and system - Google Patents
Wireless power transmission method and system Download PDFInfo
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- CN107623388A CN107623388A CN201710717768.4A CN201710717768A CN107623388A CN 107623388 A CN107623388 A CN 107623388A CN 201710717768 A CN201710717768 A CN 201710717768A CN 107623388 A CN107623388 A CN 107623388A
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Abstract
The present invention provides a kind of wireless power transmission method and system, and methods described includes：S11, for alternating magnetic field caused by emitter, according to the input power on any magnetic direction of the alternating magnetic field, magnetic field of the goal direction corresponding to maximal input in all input powers is determined, the determinant of the input power includes the magnetic coupling intensity between the emitter and reception device；S12, current amplitude and current phase angle in the emitter are adjusted, overlap the magnetic field of the goal direction corresponding with the maximal input determined of the magnetic direction of alternating magnetic field caused by the emitter, to realize that electric energy transmits.Wireless power transmission method provided by the invention can carry out automatic tracing to orientation where reception device, and communication connection need not be established between emitter and reception device, in the environment of avoiding difficult communication, wireless power transmission can not be effectively realized because communication connection can not be established.
Description
Technical field
The present invention relates to electrical energy transportation field, more particularly, to wireless power transmission method and system.
Background technology
At present, environment and energy problem have become one of the outstanding problem in the whole world.How the existing energy is effectively utilized,
The extensive concern of scholars is caused.With the development of materialogy, power electronic devices, power conversion and control technology,
Radio energy transmission system is in electric automobile, Aero-Space, power system, generation of electricity by new energy, Medical Instruments, illumination, portable
The fields such as communication apparatus have a wide range of applications.
Radio energy transmission system can be divided mainly into by principle：It is electromagnetic induction, electromagnetic radiation, electromagentic resonance, laser, wireless
Several classes such as electric wave and magnetic coupling resonance.Wherein, magnetic coupling harmonic technology is a brand-new technical field, based on magnetic coupling resonance
The radio energy transmission system of technology has turned into the advanced subject in electrical energy transportation field.Using magnetic coupling resonance principle, pass through two
The individual coil with identical resonance frequency produces high-frequency alternating coupled magnetic field, realizes that electric energy transmits in the range of certain distance.Phase
For traditional Wiring type electric energy transmission technology, the technology is more flexible, safe and reliable, can realize that power supply unit and electricity consumption are set
Near, intermediate range between standby transmit apart from electric energy, have the advantages that versatile, safe.
Two-dimensional magnetic coupled resonance radio energy transmission system can be divided into active two dimensional wireless electric energy transmission system and passive
Type two dimensional wireless electric energy transmission system, wherein active two dimensional wireless electric energy transmission system uses two-dimentional emitter, that is, have two
Individual transmitting coil, its can not active change external electromagnetic field distribution；Passive-type two dimensional wireless electric energy transmission system uses two
Tie up reception device, that is, have two receiving coils, its can active change external electromagnetic field distribution.Active two dimensional wireless electricity
The method of electric energy transfer of energy Transmission system is the transmission that energy is carried out by the resonance coupling in magnetic field, and two orthogonal, humorous
Stronger magnetic coupling, such transmitting coil and receiving coil can be produced between vibration frequency identical transmitting coil and receiving coil
Can is by the continuous positive energy exchange of magnetic coupling, so as to reach being wirelessly transferred for energy efficient rate.
In the prior art, a kind of method for carrying out wireless power transmission is by being carried out between emitter and reception device
Communication connection, to determine azimuth of the reception device relative to emitter, transmitting dress is determined according to the azimuth of reception device
Caused magnetic direction is put, so as to carry out wireless power transmission.This method is due to needing between emitter and reception device
Communication connection is established, just can determine that azimuth of the reception device relative to emitter.In the environment of difficult communication, Wu Fajian
Vertical communication linkage, so as to not can determine that azimuth, and then can not effectively realize wireless power transmission, have certain limitation.
The content of the invention
To overcome above mentioned problem or solving the above problems at least in part, the invention provides wireless power transmission method
And system.
On the one hand, the invention provides a kind of wireless power transmission method, including：
S11, for alternating magnetic field caused by emitter, according to the input on any magnetic direction of the alternating magnetic field
Power, determine magnetic field of the goal direction corresponding to maximal input, the determinant of the input power in all input powers
Including the magnetic coupling intensity between the emitter and reception device；
S12, current amplitude and current phase angle in the emitter are adjusted, makes alternation caused by the emitter
The magnetic direction in magnetic field overlaps with the corresponding magnetic field of the goal direction of maximal input determined, with realize the emitter with
Electric energy transmission between the reception device.
Preferably, the emitter includes：First transmitting coil, the second transmitting coil, the first resonant capacitance and second
Resonant capacitance；
The center of first transmitting coil and the center superposition of second transmitting coil, first transmitting coil
Residing plane is vertical with the residing plane of second transmitting coil；
First transmitting coil is connected with first resonant capacitance, second transmitting coil and second resonance
Capacitance connection.
Preferably, the angle between the magnetic field of the goal direction and plane where first transmitting coil is azimuth
θ, the θ are calculated based on equation below：
Pinput=I2[R+K sin2(θ+γ)]；
Wherein, PinputFor the input power in azimuth angle theta,IAFor the electricity in first transmitting coil
Flow amplitude, IBFor the current amplitude in second transmitting coil, R is first transmitting coil and second transmitting coil
Resistance value, K is mutual inductance parameter, and γ is mutual inductance angle.
Preferably, determined all defeated according to the input power on any magnetic direction of the alternating magnetic field in the S11
Enter in power that magnetic field of the goal direction specifically includes corresponding to maximal input：According to any magnetic direction of the alternating magnetic field
On input power, determine magnetic field of the goal direction corresponding to maximal input in all input powers using gradient descent method.
Preferably, it is described to determine that magnetic direction specifically includes corresponding to maximal input using gradient descent method：It is determined that
The loss function of input power on any magnetic direction of the alternating magnetic field；Minimum value based on the loss function,
Determine magnetic field of the goal direction corresponding to the maximal input.
Preferably, the loss function is represented by equation below：
J (θ)=- I2[R+K sin2(θ+γ)]；
Wherein, J (θ) is the loss function,IAFor the current amplitude in first transmitting coil, IB
For the current amplitude in second transmitting coil, R is the resistance of first transmitting coil and second transmitting coil, K
For mutual inductance parameter, θ is the magnetic direction and the angle of plane where first transmitting coil of alternating magnetic field, and γ is mutual inductance angle
Degree.
On the other hand, the invention provides a kind of radio energy transmission system, including：Control device, emitter, reception
Device and data acquisition device.Wherein,
The emitter, for producing alternating magnetic field；
The control device specifically includes determining module and adjusting apparatus；The determining module is used for according to the alternation magnetic
Input power on any magnetic direction of field, determines magnetic field of the goal side corresponding to maximal input in all input powers
To；The determinant of the input power includes the magnetic coupling intensity between the emitter and the reception device；Institute
State adjusting module to be used to adjust the current amplitude and current phase angle in the emitter, make to hand over caused by the emitter
The magnetic direction of varying magnetic field magnetic field of the goal direction corresponding with the maximal input determined overlaps, to realize the emitter
Electric energy transmission between the reception device.
Preferably, the emitter includes：First transmitting coil, the second transmitting coil, the first resonant capacitance and second
Resonant capacitance；The center of first transmitting coil and the center superposition of second transmitting coil, first transmitting coil
Residing plane it is vertical with the residing plane of second transmitting coil；First transmitting coil and first resonant capacitance
Connection, second transmitting coil are connected with second resonant capacitance.
Preferably, the radio energy transmission system also includes：AC/AC electrical energy transformers；
The AC/AC electrical energy transformers are used to industrial-frequency alternating current being converted to high frequency voltage；
Correspondingly, the control device also includes control module, and the control module is used to control the AC/AC electric energy to become
The work of parallel operation, and using the high frequency voltage as first transmitting coil and the driving voltage of second transmitting coil.
Preferably, radio energy transmission system also includes：AC/DC electrical energy transformers and DC/AC electrical energy transformers；
The AC/DC electrical energy transformers are used to industrial-frequency alternating current being converted to DC voltage；
The DC/AC electrical energy transformers are used to the DC voltage being converted to high frequency voltage；
Correspondingly, the control device also includes control module；
The control module is used for the work for controlling the AC/DC electrical energy transformers and the DC/AC electrical energy transformers, and
Using the high frequency voltage as first transmitting coil and the driving voltage of second transmitting coil.
Wireless power transmission method and system provided by the invention, pass through the mutual inductance coupling between emitter and reception device
Magnetic direction corresponding to maximal input caused by conjunction achieves a butt joint the automatic tracing in orientation where receiving apparatus, it is determined that receiving
Behind the orientation of device, by changing current amplitude and current phase angle in emitter, make the actual caused friendship of emitter
The magnetic direction of varying magnetic field overlaps with magnetic field of the goal direction, to realize that electric energy transmits.Wireless power transmission side provided by the invention
Method can carry out automatic tracing to orientation where reception device, and communication need not be established between emitter and reception device
Connection, in the environment of avoiding difficult communication, wireless power transmission can not be effectively realized because communication connection can not be established.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of wireless power transmission method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of radio energy transmission system provided in an embodiment of the present invention；
Fig. 3 is the concrete structure schematic diagram of emitter in Fig. 2；
Fig. 4 is the relative position relation floor map of emitter and reception device in Fig. 2；
Fig. 5 is emitter and the equivalent circuit diagram of reception device in Fig. 2；
Fig. 6 is the relation schematic diagram caused by emitter between magnetic direction and the azimuth of reception device in Fig. 4；
Fig. 7 is the structural representation of radio energy transmission system provided in an embodiment of the present invention；
Fig. 8 is azimuthal simulation waveform signal that Parameter Identification provided in an embodiment of the present invention determines reception device
Figure；
Fig. 9 is that the azimuth of determination reception device in Fig. 8 is θmWhen simulation waveform schematic diagram；
Figure 10 is azimuthal simulation waveform signal that gradient descent method provided in an embodiment of the present invention determines reception device
Figure；
Figure 11 is that the azimuth of determination reception device in Figure 10 is θmWhen simulation waveform schematic diagram.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
As shown in figure 1, a kind of wireless power transmission method is provided in one embodiment of the invention, it is characterised in that including：
S11, for alternating magnetic field caused by emitter, according to the input on any magnetic direction of the alternating magnetic field
Power, determine magnetic field of the goal direction corresponding to maximal input, the determinant of the input power in all input powers
Including the magnetic coupling intensity between the emitter and reception device；
S12, current amplitude and current phase angle in the emitter are adjusted, makes alternation caused by the emitter
The magnetic direction in magnetic field overlaps with the corresponding magnetic field of the goal direction of maximal input determined, with realize the emitter with
Electric energy transmission between the reception device.
Specifically, emitter produces alternating magnetic field, and Mutual Inductance Coupling is produced between the reception device with needing electric energy transmission,
When the electric current in emitter changes, induced electromotive force is produced in reception device, the load being connected to for reception device
Charged.But because reception device is different relative to the position of emitter, emitter can be caused mutual with reception device
Input power caused by sense coupling is different, and then the power for receiving reception device is different.Diverse location is connect to realize
Receiving apparatus can carry out the electric energy transmission of maximal input, and the present invention need not be carried out between emitter and reception device
Communication connection, but determine to receive dress by determining magnetic field of the goal direction corresponding to maximal input caused by Mutual Inductance Coupling
The azimuth put, and by changing current amplitude and current phase angle in emitter, make the actual caused friendship of emitter
The magnetic direction of varying magnetic field overlaps with magnetic field of the goal direction, to realize that electric energy transmits.
The determinant of input power is a lot, such as the consume of the own power including emitter and power output, here
Input power refer to the input power of the radio energy transmission system including emitter and reception device, power output
It can be the own power loss for loading the power provided, and reception device to refer to this radio energy transmission system.Launching
Input alternating current can form alternating magnetic field around emitter in device, produce magnetic flux line.Magnetic flux caused by emitter
Line forms Mutual Inductance Coupling through reception device emitter and reception device, and the magnetic flux line through reception device is got over
More, the magnetic coupling intensity between emitter and reception device is stronger.Usual magnetic coupling intensity represented by the coefficient of coup,
The coefficient of coup is bigger, represents that magnetic coupling intensity is stronger.
In emitter, the timing of power attenuation one of reception device, power output is by emitter and the coupling of reception device
Syzygy number determines that the coefficient of coup is bigger, and magnetic coupling intensity is stronger, and power output is bigger, and input power is bigger.So sending out
The timing of power attenuation one of injection device, reception device, the magnetic coupling intensity between the emitter and reception device is bigger,
Input power is bigger.At the same time, the mutual inductance between emitter and reception device is also bigger.
Due to carrying out Mutual Inductance Coupling between emitter and reception device, when input power caused by Mutual Inductance Coupling is maximum
When, that is, illustrate reception device on magnetic field of the goal direction, that is to say, that now the azimuth of reception device is magnetic field of the goal direction
Azimuth.Goal magnetic direction refers to the target of alternating magnetic field caused by emitter corresponding to maximal input
Magnetic direction.Achieved a butt joint orientation where receiving apparatus using magnetic direction corresponding to maximal input caused by Mutual Inductance Coupling
Automatic tracing.
This wireless power transmission method that the present embodiment provides is not limited to the dimension of radio energy transmission system, can both fit
For two dimensional wireless electric energy transmission system, 3-D wireless electric energy transmission system is could be applicable to, this is not made to have in the present embodiment
Body limits.
It is corresponding by maximal input caused by the Mutual Inductance Coupling between emitter and reception device in the present embodiment
Magnetic direction achieve a butt joint the automatic tracing in orientation where receiving apparatus, it is determined that behind the orientation of reception device, pass through and change hair
Current amplitude and current phase angle in injection device, make the magnetic direction of alternating magnetic field caused by emitter reality and target magnetic
Field direction overlaps, to realize that electric energy transmits.The wireless power transmission method that the present embodiment provides can be to orientation where reception device
Automatic tracing is carried out, and communication connection need not be established between emitter and reception device, avoids difficult communication
Under environment, wireless power transmission can not be effectively realized because communication connection can not be established.
As shown in Fig. 2 on the basis of above-described embodiment, the emitter includes：First transmitting coil 21, second is sent out
Ray circle 23, the first resonant capacitance 22 and the second resonant capacitance 24；
The center of first transmitting coil 21 and the center superposition of second transmitting coil 23, first emission lines
The residing plane of circle 21 is vertical with the residing plane of second transmitting coil 23；First transmitting coil 21 and described first
Resonant capacitance 22 is connected, and second transmitting coil 23 is connected with second resonant capacitance 24.
AC power is also associated with the first transmitting coil 21, AC power produces high frequency voltage, high frequency voltage is made
For the driving voltage of the first transmitting coil 21.AC power is also connected with the second transmitting coil 22, AC power produces high
Frequency voltage, the driving voltage using high frequency voltage as the second transmitting coil 22.Two orthogonal transmitting coils can subtract as much as possible
The Mutual Inductance Coupling of mutual inductance between small, guarantee transmitting coil and receiving coil is interference-free and ensures the biography of stable electric power
It is defeated.
Preferably, the first transmitting coil 21 and the second transmitting coil 22 can also be separate by two respectively
Ac current source IAAnd IBExcitation produces alternating magnetic field, and the alternation of orientation is formed by control electric current amplitude and current phase angle
Magnetic field.
The reception device of Mutual Inductance Coupling is produced with emitter includes the resonant capacitance 26 of receiving coil 25 and the 3rd, receives
Coil 25 is connected with the 3rd resonant capacitance 26, meanwhile, receiving coil 25 is connected with load 27, for being powered to load.
Specifically, " first " in the present embodiment, " second " are only used for describing purpose, and it is not intended that instruction or hint
Relative importance., can also be three meanwhile method provided by the invention is not limited to use in two dimensional wireless electric energy transmission system
Used in dimension radio energy transmission system, i.e., emitter includes three center superpositions and the orthogonal hair of place plane
Ray circle.Below exemplified by only including two transmitting coils in emitter.
On the basis of above-described embodiment, between the plane where the magnetic field of the goal direction and first transmitting coil
Angle be azimuth angle theta, the θ based on equation below calculate：
Pinput=I2[R+K sin2(θ+γ)]；
Wherein, PinputFor the input power in azimuth angle theta,IAFor the electricity in first transmitting coil
Flow amplitude, IBFor the current amplitude in second transmitting coil, I is a SIN function on time t, and I value is determined
Determine the size of magnetic induction density B, while be limited to the tolerance of two transmitting coils, usual I value can be entered as needed
Row setting.R is the resistance value of first transmitting coil and second transmitting coil, and K is mutual inductance parameter, and γ is mutual inductance angle
Degree.
Specifically, Fig. 3 illustrates the detailed construction of emitter in the transmission of two dimensional wireless electric energy.The He of first transmitting coil 21
Second transmitting coil 22 is square coil, and the first transmitting coil 21 is located at XOZ planes, and the second transmitting coil 22 is put down positioned at YOZ
Face, the center of two transmitting coils is in origin O.Wherein, the coordinate on four summits of the first transmitting coil 21 is respectively：T11
(a,0,c)、T12(a,0,-c)、T13(- a, 0 ,-c) and T14(- a, 0, c), the coordinate point on four summits of the second transmitting coil 22
It is not：T21(0,b,c)、T22(0,b,-c)、T23(0 ,-b ,-c) and T24(0,-b,c)。
Assuming that have tetra- points of A, B, C, D on four sides of the first transmitting coil 21 respectively, four of the second transmitting coil 22
There are tetra- points of E, F, G, H on side respectively.Any point P on first transmitting coil 211Coordinate be p1(x1,y1,z1), the second emission lines
Any point P on circle 222Coordinate be p2(x2,y2,z2).For any point P in space, coordinate is set to p (x, y, z).Each hair
Direction on ray circle profile can be expressed as with the form of vector：
Wherein,Unit direction vector respectively on x, y and z direction,The side on the side where expression point A
To vector,The direction vector on the side where expression point B,The direction vector on the side where expression point C,Represent point D institutes
Side direction vector,The direction vector on the side where expression point E,The direction vector on the side where expression point F,The direction vector on the side where expression point G,The direction vector on the side where expression point H.
From point P1To point P unit direction vectorAnd from point P2Unit direction vector to point P is respectively：
Assuming that the electric current in the first transmitting coil 21 and the second transmitting coil 22 is respectively IA cos(ωt+θA) and IB cos
(ωt+θB), it can be obtained based on biot savart's law, the first transmitting coil 21 and the second transmitting coil 22 are in magnetic flux caused by P points
Density can be calculated by below equation：
Wherein, N is the number of turn of the first transmitting coil and the second transmitting coil, and ω is the angular frequency of electric current in two transmitting coils
Rate, IA, IBThe size of current amplitude, i.e. electric current respectively in the first transmitting coil and the second transmitting coil, θA, θBRespectively
Current phase angle in first transmitting coil and the second transmitting coil, μ0For space permeability, space permeability value be 4 π ×
10-7N·A-2。It is the first transmitting coil in magnetic flux density caused by P points,It is the second transmitting coil caused by P points
Magnetic flux density.
It is by the first transmitting coil 21 and the second transmitting in the magnetic induction intensity that point P is formed by above formula
Caused magnetic induction intensity is formed by stacking coil 22 respectively.Specifically, the magnetic induction intensity formed in P points passes through equation below
It is calculated：
Wherein, Bm|nThe magnetic induction intensity induced for transmitting coil profile n on m coordinate directions,In Bx、
By、BzRespectively two transmitting coils in total component of the magnetic induction intensity on x, y, z coordinate direction caused by P points,
In Bx、By、BzRespectively the first transmitting coil 21 in component of the magnetic induction intensity on x, y, z coordinate direction caused by P points,In Bx、By、BzRespectively the second transmitting coil 22 is in magnetic induction intensity caused by P points on x, y, z coordinate direction
Component.
The orientation tracking function of the completion receiving coil in two-dimensional space is only considered in the present embodiment, so z=0, XOY are put down
Magnetic induction intensity on face.Fig. 4 shown on XOY plane, the geometrical relationship of two transmitting coils and receiving coil, is connect in figure
Take-up circle can be placed on the surrounding of the emitter including two transmitting coils, and the center of receiving coil needs alignment two
The center of transmitting coil.On XOY coordinate systems, using the center of two transmitting coils as the origin in XOY coordinate systems, origin is connecing
On the central shaft of take-up circle 25, the distance of origin to receiving coil center is d, and the central shaft of receiving coil 25 is on two dimensional surface
The angle of formed physical angle and x-axis is azimuth angle theta0, wherein 0≤θ0≤2π。
For convenience of calculation, it is assumed that each transmitting coil and receiving coil are square coils, the side of receiving coil 25
The long length of side much smaller than two transmitting coils, the length of side of the first transmitting coil is a, and the length of side of the second transmitting coil is b, receives line
The length of side of circle is c, then has c ＜ ＜ a=b=l.When the position very little shared by receiving coil 25, corresponding two transmitting coils production
Raw magnetic induction density B can be considered steady state value, and magnetic flux line is along straight path and outwards launched, and will not off center
Straight line.
When the electric current in the first transmitting coil is IA, phase angle θA, the current amplitude in the second transmitting coil is IB, phase
Parallactic angle is θBWhen, the physical direction of magnetic induction density B and the angle of x-axis that are synthesized by the current excitation in two transmitting coils are
Azimuth angle theta, wherein 0≤θ≤2 π.Make θA=0, θB-θA=Δ θ, then on two transmitting coils each infinitesimal point O's (0,0,0)
Magnetic induction intensity is：
Wherein, BxoAnd ByoAny infinitesimal of respectively two transmitting coils O points magnetic induction intensity in x-axis and y-axis
Component.On space arbitrfary point P (P point coordinates is p (x, y, 0)) as the first transmitting coil and the second transmitting coil sensing caused by magnetic
Induction is as follows：
Wherein, BxAnd ByRespectively two transmitting coils P points magnetic induction intensity x-axis and y-axis component.
When magnetic direction is when the physical angle on two dimensional surface is θ, in the first transmitting coil and the second transmitting coil
Following relation be present in exciting current：
It was found from above formula, by adjusting current amplitude and its phase angle in the first transmitting coil and the second transmitting coil,
I.e. controllable azimuth angle theta of the magnetic direction on two-dimensional space.Above formula can be further represented as：
Such as the equivalent circuit diagram of Fig. 5 mutual inductances between emitter and reception device, the first transmitting coil can be equivalent in figure
It is L for an inductance valueAWith resistance value RA, wherein RAResistance value it is identical with the resistance value of the first transmitting coil, with LASeries connection connects
It is connected to the first resonant capacitance CA, the incoming transport power supply U in the first transmitting coilA, work as UAMake the current amplitude and electric current in circuit
When phase angle changes, an induced electromotive force U can be producedA1.Similarly, the second transmitting coil can be equivalent to an inductance LBWith
Resistance RB, wherein RBResistance value it is identical with the resistance value of the second transmitting coil, with LBIt is connected in series with the second resonant capacitance CB,
The incoming transport power supply U in the second transmitting coilB, work as UBWhen the current amplitude in circuit and the current phase angle is changed, meeting
Produce an induced electromotive force UB1.Receiving coil can be equivalent to an inductance LCWith resistance RC, wherein RCResistance value and receive line
The resistance value of circle is identical, with LCIt is connected in series with the 3rd resonant capacitance CC。LAWith LCMutual inductance, mutual inductance value are MAC, it is electronic to produce mutual inductance
Gesture UA2, LBWith LCMutual inductance, mutual inductance value are MBC, produce mutual induction electromotive force UB2.Load to be powered is connected on receiving coil, its electricity
Hinder for RL。
AC power UAAnd UBIt can be voltage source or current source, not limit herein, need to only make two transmittings
I is produced in coil respectivelyAAnd IBElectric current.
The Equivalent circuit equations of two dimensional wireless electric energy transmission system are represented by：
Wherein,ICFor caused electricity in receiving coil
Stream.
If the center point P of receiving coilCCoordinate be pc(xc, yc, 0), after receiving coil position is fixed, receiving coil
Mutual inductance value with the first transmitting coil, the second transmitting coil is definite value MAC、MBC, the electric current I in two receiving coilsA、IBCan table
It is shown as：
Wherein, I is a SIN function on time t, and I value determines the size of magnetic induction density B, is limited simultaneously
In the tolerance of two transmitting coils, usual I value can be set as needed.
The Equivalent circuit equations of two dimensional wireless electric energy transmission system can be further represented as：
J ω M can be obtainedAC I sinθ+jωMBCI cos θ=(RC+jXC+RL)IC。
Then the electric current in receiving coil is：Or
ICAmplitude size be：
The calculation formula that further can be calculated bearing power is as follows：
The calculation formula of power output, the i.e. power of the power of receiving coil autophage and load consumption is as follows：
The calculation formula of input power is represented by power dissipation and the bearing power of two transmitting coils and receiving coil
Sum：
Pinput=PlossA+PlossB+PlossC+Pload,
Wherein, PinputFor input power,For the loss of itself of the first transmitting coil,For the loss of itself of the second transmitting coil,For the loss of receiving coil itself.
The calculation formula for further obtaining input power is：
When the first transmitting coil is equal with the resistance value of the second transmitting coil, i.e. RA=RBDuring=R, the meter of input power
Calculating formula can be reduced to：
Can be so that input power reach maximum as shown in fig. 6, choosing suitable azimuth angle theta, and then reach power output
To maximum, reach maximum power transfer.As long as find optimal azimuth angle thetam, receiving coil is with regard to that can reach maximum work output
Rate.Optimal azimuth angle thetamIt is not necessarily equal to receiving coil azimuth residing on two dimensional surface, but by two emission lines
The magnetic direction of alternating magnetic field caused by circle is arranged on that this side up, receiving coil is produced maximum power output, so can
To allow the receiving coil navigated to certain deviation to be present.
Assuming that the position of two transmitting coils and receiving coil is all preferable coil, then XA、XBAnd XCValue be zero, then
There is Pinput=I2[R+K sin2(θ+γ)],For mutual inductance parameter,For mutual inductance angle.
By adjusting the size of azimuth angle theta, make input power PinputMaximum is taken, corresponding magnetic direction is magnetic field of the goal
Direction, so as to realize the maximum power transfer between emitter and reception device.
On the basis of above-described embodiment, there are two methods to determine magnetic direction corresponding to maximal input, Yi Zhongwei
Parameter Identification, one kind is gradient descent method.It is main in the present embodiment to determine magnetic direction using Parameter Identification.
Specifically, the maximum of input power is determined, it is necessary to solve unknown in the calculation formula of input power
Mutual inductance parameter K and mutual inductance angle γ, then at least need two nonlinear equations.N number of different azimuth angle theta is given at random1,
θ2,…,θN, wherein N >=2.Measurement corresponds to N number of different input power P during each different orientationsinput1,Pinput2,…,
PinputN.Unknown mutual inductance parameter K and mutual inductance angle γ can be solved using equation below group.
For N number of different azimuth, N number of different input power is correspond to, can be solved between any two equation
One group of K and γ, therefore, it can solve altogetherGroup K and γ.All K values calculated are taken the mean to obtain K ', by what is calculated
All γ values take the mean to obtain γ '.
It is maximum to input power, then needOrObtain the side corresponding to maximal input
Parallactic angle isOrNow, it may be determined that reception device is in azimuth angle thetamOn, i.e. θm=θ0, only need to adjust
Current amplitude and current phase angle in first transmitting coil, and current amplitude and current phase in the second transmitting coil
Angle, you can realize the maximum power transfer from emitter to reception device.
On the basis of above-described embodiment, according to the input on any magnetic direction of the alternating magnetic field in the S11
Power, determine that magnetic field of the goal direction specifically includes corresponding to maximal input in all input powers：According to the alternation magnetic
Input power on any magnetic direction of field, determine that maximal input is corresponding in all input powers using gradient descent method
Magnetic field of the goal direction.
Specifically, it is using another method for determining magnetic direction corresponding to maximal input in the present embodiment, i.e., sharp
Determined with gradient descent method.
Gradient descent method refers to：It is the direction of search with negative gradient direction, closer to desired value, step-length is smaller, advances slower.
Determine that magnetic direction specifically includes corresponding to maximal input using gradient descent method：Determine any magnetic of the alternating magnetic field
The loss function of input power on field direction；Minimum value based on the loss function, determines the maximal input
Corresponding magnetic field of the goal direction.
Specifically, the loss function is represented by equation below：
J (θ)=- I2[R+K sin2(θ+γ)],
Wherein, J (θ) is the loss function,Azimuth angle theta for alternating magnetic field magnetic direction and described the
The angle of plane, represents magnetic direction, γ is mutual inductance angle where one transmitting coil.
Derivation is carried out to loss function, obtained：
It is located in the calculating process for carrying out gradient descent method, the step-length of selection is α, then has：
Wherein, step-length α is an artificially defined constant, and its size order is related to the effect of tracking azimuth angle theta.
First have to prove that gradient descent method can drive azimuth angle theta finally to converge on the orientation corresponding with maximal input
Angle θm。
Lyapunov (Liapunov) function V (x) is introduced, and is had：
Only in θ=θmWhen, V (x)=0, if θ ≠ θm, then V (x) ＞ 0.
Derivation is carried out to function V (x), obtained：
Consider restrictive conditionOrθ∈[θm- π, θm+ π] it can obtain：
And if only if θ=θmWhen, dV (x)/dt=0, if θ ≠ θm, then dV (x)/dt ＜ 0.
So gradient descent method is demonstrated eventually so that θ converges on θm。
Analysis more than, gradient descent method can be simplified shown as following math equation：
Gradient descent method can cause loss function to get minimum value, at the same time θmOptimal value, maximum input can be got
Power and azimuthal orientation can be achieved.At the same time step-length α value is bigger, and the convergent speed of the method is also faster, but precision
Also can decrease.
In the present embodiment, maximal input pair is determined using two kinds of different methods of Parameter Identification and gradient descent method
The magnetic field of the goal direction answered, that is, determine azimuth angle thetam.Magnetic field of the goal direction is determined using both approaches, and automatic tracing is to connecing
Take-up circle, it is no longer necessary to the communication connection between emitter and reception device, or increase an angular surveying in systems and set
It is standby to measure azimuth of the reception device relative to emitter, realize the automation of wireless power transmission.
As shown in fig. 7, a kind of radio energy transmission system is provided in another embodiment of the present invention, it is characterised in that bag
Include：Control device 71, emitter 72, reception device 73 and data acquisition device 74；
The emitter 72 is used to produce alternating magnetic field；
The control device 71 specifically includes determining module and adjusting apparatus；
The input power that the determining module is used on any magnetic direction according to the alternating magnetic field, is determined all defeated
Enter magnetic field of the goal direction corresponding to maximal input in power；The determinant of the input power includes the emitter
Magnetic coupling intensity between the reception device；
The adjusting module is used to adjust the current amplitude and current phase angle in the emitter, makes the transmitting dress
The magnetic field of the goal direction corresponding with the maximal input determined of the magnetic direction of alternating magnetic field caused by putting overlaps, to realize
State the electric energy transmission between emitter and the reception device.
Specifically, the effect of each device and operating procedure correspond with above method class embodiment in the present embodiment,
This is repeated no more.
In the present embodiment, by maximum caused by the Mutual Inductance Coupling between control device control emitter and reception device
Magnetic direction corresponding to input power achieves a butt joint the automatic tracing in orientation where receiving apparatus, and reception dress is determined in determining module
Behind the orientation put, adjusting module makes the actual production of emitter by changing current amplitude and current phase angle in emitter
The magnetic direction of raw alternating magnetic field overlaps with magnetic field of the goal direction, to realize that electric energy transmits.The radio that the present embodiment provides
Energy Transmission system can carry out automatic tracing to orientation where reception device, and need not be between emitter and reception device
Communication connection is established, in the environment of avoiding difficult communication, radio energy can not be effectively realized because communication connection can not be established
Transmission.System provided by the invention need not use the orientation of angle sensing device detection reception device, make whole radio energy
Transmission system is more simplified and intelligence, saves the construction cost of radio energy transmission system.
On the basis of above-described embodiment, the emitter includes：First transmitting coil, the second transmitting coil, first
Resonant capacitance and the second resonant capacitance；The center of first transmitting coil and the center superposition of second transmitting coil, institute
The residing plane for stating the first transmitting coil is vertical with the residing plane of second transmitting coil；First transmitting coil and institute
The connection of the first resonant capacitance is stated, second transmitting coil is connected with second resonant capacitance.
On the basis of above-described embodiment, the reception device includes：Receiving coil and the 3rd resonant capacitance；The reception
Coil is connected with the 3rd resonant capacitance.
Specifically, the structure of emitter and reception device corresponds with above method class embodiment, no longer superfluous herein
State.
On the basis of above-described embodiment, radio energy transmission system also includes：AC/AC electrical energy transformers；
The AC/AC electrical energy transformers are used to industrial-frequency alternating current being converted to high frequency voltage；
Correspondingly, the control device also includes control module, and the control module is used to control the AC/AC electric energy to become
The work of parallel operation, and using the high frequency voltage as first transmitting coil and the driving voltage of second transmitting coil.
Specifically, to make to produce alternating magnetic field, it is necessary to which high frequency voltage is carried out between two transmitting coils in emitter
Driving, the frequency of high frequency voltage referred to herein are generally 20KHz.(namely often said in only 220V, 50Hz industrial-frequency alternating current
Civil power, household electricity etc.) in the case of, it is necessary to changed, industrial-frequency alternating current is converted into high frequency voltage, a kind of method is
Industrial-frequency alternating current is directly converted to 20KHz high frequency voltage using AC/AC electrical energy transformers.Due to there is two transmitting coils,
Two independent AC/AC electrical energy transformers are then needed to be connected on two transmitting coils.
On the basis of above-described embodiment, radio energy transmission system also includes：AC/DC electrical energy transformers and DC/AC electricity
Can converter；
The AC/DC electrical energy transformers are used to industrial-frequency alternating current being converted to DC voltage；
The DC/AC electrical energy transformers are used to the DC voltage being converted to high frequency voltage；
Correspondingly, the control device also includes control module；
The control module is used for the work for controlling the AC/DC electrical energy transformers and the DC/AC electrical energy transformers, and
Using the high frequency voltage as first transmitting coil and the driving voltage of second transmitting coil.
Specifically, control module controls AC/DC electrical energy transformers to work first, and 220V, 50Hz industrial-frequency alternating current are turned
12V DC voltage is changed to, this DC voltage is the stable, direct current of pulse very little.The step for be for follow-up DC/
AC energy converters provide input voltage.Control module controls DC/AC electrical energy transformers to work again, and 12V DC voltage is turned
It is changed to 20KHz high frequency voltage.The high frequency voltage aberration rate that the mode of this indirect conversion obtains is smaller, the waveform of high frequency voltage
Closer to sinusoidal waveform, the waveform for the voltage that reception device obtains so is made also closer to sine wave by Mutual Inductance Coupling
Shape, the quality for transmitting electric energy are higher.
Due to there are two transmitting coils, then two independent AC/DC electrical energy transformers are needed respectively by two-way industrial frequency AC
Electricity is converted to two-way 12V DC voltage, then the AC ends in two DC/AC electrical energy transformers are connected into two DC/AC
The DC ends of energy converter, finally the AC ends of two DC/AC energy converters are connected on two transmitting coils, so that
The high frequency voltage that must be obtained is driven to two transmitting coils.
On the basis of above-described embodiment, the control device in radio energy transmission system can be floating point number signal
Processor (Digital Signal Processing, DSP) or field programmable gate array (Field-Programmable
Gate Array, FPGA), but not limited to this.Control device mainly plays determination, corrective action and control action, and receives
Collect the current amplitude and current phase angle information in two transmitting coils, the working condition of current system is calculated, drawn
Parameters corresponding to optimal working condition, and control other devices whole radio energy transmission system is realized that peak power passes
Defeated function.
Reception device receives radio energy and the consumed energy in load, and the load used in the present embodiment is born for purely resistive
Carry, energy consumption model is resistance heating.
Also include in radio energy transmission system：Data acquisition module, data acquisition module are mainly mutual comprising some electric currents
Sensor and signal transmssion line, the information mainly collected have：Current amplitude, current phase angle, two hairs in two transmitting coils
The ray circle resistance value between receiving coil in caused mutually inductance value, two transmitting coils, and the information that will be collected into respectively
It is converted into data signal and is passed to control module.
The specific workflow of whole system is as follows：
1) initialized according to default condition；Wherein, said herein impose a condition can be manually set, mainly
Including the current amplitude and current phase angle in the first transmitting coil of setting and the second transmitting coil, and the work of whole system
Condition.
2) according to the current amplitude and current phase angle in the first transmitting coil and the second transmitting coil of setting, mould is controlled
Block calculates amplitude size and the phase angle of the first transmitting coil and the two-way driving voltage needed for the second transmitting coil respectively, and
Become according to two independent driving voltage amplitude sizes and phase control AC/DC electrical energy transformers, or control AC/DC electric energy
Parallel operation and DC/AC electrical energy transformers.
3) electrical energy transformer is converted to industrial-frequency alternating current required driving voltage, and is sent to corresponding transmitting coil
On.
4) after two transmitting coils obtain driving voltage, by transmitting coil and resonance capacitance group into circuit produce it is humorous
Shake, obtain driving current, driving current produces alternating magnetic field in coil, and is coupled with receiving coil, to transmit electric energy.
5) after receiving coil receives electric energy, resonance is produced in the circuit where receiving coil, is energized for load.
6) current amplitude in data acquisition device two transmitting coils of collection, current phase angle, two emission lines are utilized
The circle resistance value between receiving coil in caused mutually inductance value, two transmitting coils, and obtained information is passed to control respectively
Molding block.
7) control module calculates the azimuth of current alternating magnetic field, and calculate input according to the information collected
The size of power, next magnetic direction is calculated according to gradient descent method, and draw new driving voltage, pass to electric energy change
Parallel operation.
8) repeat step 2)-step 7) operation, until when drawing input power maximum alternating magnetic field magnetic field of the goal side
To, and change the current amplitude and current phase angle in two transmitting coils, make the magnetic direction and mesh of caused alternating magnetic field
Mark magnetic direction to overlap, the automatic tracing for the take-up circle that achieves a butt joint, and realize maximum power transfer.
, can when wherein, for determining input power maximum using Parameter Identification during the magnetic field of the goal direction of alternating magnetic field
So that directly by repeating step 2)-step 6) of preset times, when performing every time, control module can be according to data acquisition
Current amplitude and current phase angle in two transmitting coils that device collects determine the azimuth angle theta of magnetic direction, and really
Input power value corresponding to fixed.According to the data being calculated of preset times, input work can determine that based on Parameter Identification
The magnetic field of the goal direction of alternating magnetic field during rate maximum.
Magnetic field of the goal direction, which is explained in detail, to be determined to Parameter Identification and gradient descent method with instantiation below.
1) Parameter Identification
From above-mentioned explanation, the quantity N of given azimuth angle theta is bigger, and precision is also bigger, tracks receiving coil and is spent
Time it is also more.Weigh time and precision, in embodiment, N values are 4.Four azimuth angle thetas1、θ2、θ3And θ4Take respectively
It is worth for 40 °, 70 °, 110 ° and 160 °.Corresponding to the current amplitude in the first transmitting coil and the second transmitting coil and phase angle such as
Shown in table 1, the sense of current wherein in negative sign expression transmitting coil is on the contrary, i.e. phase differs 180 °.
Table 1
| Angle | θ1=40 ° | θ2=70 ° | θ3=110 ° | θ4=160 ° |
| IA | 6.43A | 9.40A | 9.40A | 3.42A |
| IB | 7.66A | 3.42A | -3.42A | -9.40A |
In the present embodiment load used for 0.75 Ω resistance, two transmitting coil centers and receiving coil center away from
Constant 23cm is kept from d.Plane where three coils is all perpendicular to XOY plane, and plane where two transmitting coils is hung down
Directly intersect, line of the plane where receiving coil perpendicular to two transmitting coil centers and receiving coil center.
In the present embodiment, by the angle of the central axis of receiving coil and the first transmitting coil (i.e. x-axis) on XOY plane
It is arranged to θ0=45 °, keep receiving coil position to immobilize, start tracing process.The azimuth of magnetic direction is from θ1Cut successively
Change to θ4, often by once switching, control module can all record a corresponding input power value.After traveling through four azimuths,
Control device can calculate K ' and γ ' after, according toOrθ can be drawnmIt is approximately 45 °,
I.e. maximum power transfer when corresponding magnetic field of the goal direction be approximately 45 °, it is feasible thus to prove method proposed by the present invention
Effectively.
Fig. 8 is the oscillogram in tracing process, and waveform is respectively from top to bottom in figure：Electric current in first transmitting coil,
The induced voltage on the electric current and receiving coil in electric current, receiving coil in second transmitting coil.Fig. 9 is that magnetic direction is mesh
Mark magnetic direction θmWhen oscillogram, waveform is respectively from top to bottom in figure：Electric current, the second emission lines in first transmitting coil
The induced voltage on the electric current and receiving coil in electric current, receiving coil in circle.I can be also drawn from Fig. 9A、IBAmplitude it is big
The small relation between phase angle, it therefrom can verify that θmSubstantially in the true bearing angle θ of receiving coil0Near=45 °, thus may be used
It is feasible effective to demonstrate,prove method proposed by the present invention.
2) gradient descent method
Unlike Parameter Identification, gradient descent method need not artificially set azimuth, it is only necessary to consider step-length α's
Size order.First transmitting coil and current amplitude in the second transmitting coil and phase angle are by current desired magnetic direction
Determined.In the present embodiment, step-length α is arranged to 0.005.
In the present embodiment, the folder by the central axis of receiving coil and the first transmitting coil (i.e. x-axis) on XOY plane
Angle is arranged to θ0=45 °, keep receiving coil position to immobilize, start tracing process.Gradient descent method automatically updates angle
And input power size is calculated, until angle gradually approaches θm, reach stable state in system input power maximum.But under gradient
The magnetic field of the goal direction that drop method obtains can't be fixed on θmIt is constant, but in θmFluctuation up and down, fluctuation deviant is with step-length α's
Size is relevant.Figure 10 is the oscillogram in tracing process, and waveform is respectively from top to bottom in figure：Electricity in first transmitting coil
Stream, the electric current in the second transmitting coil, the induced voltage on electric current and receiving coil in receiving coil.Figure 11 is magnetic direction
Azimuth be θmWhen oscillogram, waveform is respectively from top to bottom in figure：Electric current, the second transmitting coil in first transmitting coil
In electric current, the induced voltage on electric current and receiving coil in receiving coil.I can be obtained from Figure 11A、IBAmplitude size with
Relation between phase angle, therefrom can verify that θmSubstantially in the true bearing angle θ of receiving coil0Near=45 °, this thus can be demonstrate,proved
The method that invention proposes is feasible effective.
Finally, method of the invention is only preferable embodiment, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., the protection of the present invention should be included in
Within the scope of.
Claims (10)
- A kind of 1. wireless power transmission method, it is characterised in that including：S11, for alternating magnetic field caused by emitter, according to the input work on any magnetic direction of the alternating magnetic field Rate, determine magnetic field of the goal direction corresponding to maximal input in all input powers, the determinant bag of the input power Include the magnetic coupling intensity between the emitter and reception device；S12, current amplitude and current phase angle in the emitter are adjusted, makes alternating magnetic field caused by the emitter Magnetic direction overlapped with the corresponding magnetic field of the goal direction of maximal input determined, with realize the emitter with it is described Electric energy transmission between reception device.
- 2. according to the method for claim 1, it is characterised in that the emitter includes：First transmitting coil, the second hair Ray circle, the first resonant capacitance and the second resonant capacitance；The center superposition of the center of first transmitting coil and second transmitting coil, first transmitting coil it is residing Plane is vertical with the residing plane of second transmitting coil；First transmitting coil is connected with first resonant capacitance, second transmitting coil and second resonant capacitance Connection.
- 3. according to the method for claim 2, it is characterised in that the magnetic field of the goal direction and the first transmitting coil institute Plane between angle be azimuth angle theta, the θ based on equation below calculate：Pinput=I2[R+Ksin2(θ+γ)]；Wherein, PinputFor the input power in azimuth angle theta,IAFor the electric current width in first transmitting coil Value, IBFor the current amplitude in second transmitting coil, R is the electricity of first transmitting coil and second transmitting coil Resistance, K are mutual inductance parameter, and γ is mutual inductance angle.
- 4. method according to claim 1 or 2, it is characterised in that according to any magnetic of the alternating magnetic field in the S11 Input power on field direction, determine that magnetic field of the goal direction specifically includes corresponding to maximal input in all input powers：According to the input power on any magnetic direction of the alternating magnetic field, all input powers are determined using gradient descent method Magnetic field of the goal direction corresponding to middle maximal input.
- 5. according to the method for claim 4, it is characterised in that described to determine maximal input pair using gradient descent method The magnetic direction answered specifically includes：Determine the loss function of the input power on any magnetic direction of the alternating magnetic field；Minimum value based on the loss function, determine magnetic field of the goal direction corresponding to the maximal input.
- 6. according to the method for claim 5, it is characterised in that the loss function is represented by equation below：J (θ)=- I2[R+Ksin2(θ+γ)]；Wherein, J (θ) is the loss function,IAFor the current amplitude in first transmitting coil, IBFor institute The current amplitude in the second transmitting coil is stated, R is the resistance of first transmitting coil and second transmitting coil, and K is mutual Feel parameter, θ is the magnetic direction and the angle of plane where first transmitting coil of alternating magnetic field, and γ is mutual inductance angle.
- A kind of 7. radio energy transmission system, it is characterised in that including：Control device, emitter, reception device and data are adopted Acquisition means；The emitter, for producing alternating magnetic field；The control device specifically includes determining module and adjusting apparatus；The input power that the determining module is used on any magnetic direction according to the alternating magnetic field, determines all input works Magnetic field of the goal direction corresponding to maximal input in rate；The determinant of the input power includes the emitter and institute State the magnetic coupling intensity between reception device；The adjusting module is used to adjust the current amplitude and current phase angle in the emitter, produces the emitter The magnetic direction of raw alternating magnetic field magnetic field of the goal direction corresponding with the maximal input determined overlaps, to realize the hair Electric energy transmission between injection device and the reception device.
- 8. system according to claim 7, it is characterised in that the emitter includes：First transmitting coil, the second hair Ray circle, the first resonant capacitance and the second resonant capacitance；The center superposition of the center of first transmitting coil and second transmitting coil, first transmitting coil it is residing Plane is vertical with the residing plane of second transmitting coil；First transmitting coil is connected with first resonant capacitance, second transmitting coil and second resonant capacitance Connection.
- 9. system according to claim 8, it is characterised in that also include：AC/AC electrical energy transformers；The AC/AC electrical energy transformers are used to industrial-frequency alternating current being converted to high frequency voltage；Correspondingly, the control device also includes control module, and the control module is used to control the AC/AC electrical energy transformers Work, and using the high frequency voltage as first transmitting coil and the driving voltage of second transmitting coil.
- 10. system according to claim 8, it is characterised in that also include：AC/DC electrical energy transformers and DC/AC electric energy become Parallel operation；The AC/DC electrical energy transformers are used to industrial-frequency alternating current being converted to DC voltage；The DC/AC electrical energy transformers are used to the DC voltage being converted to high frequency voltage；Correspondingly, the control device also includes control module；The control module is used to controlling the work of the AC/DC electrical energy transformers and the DC/AC electrical energy transformers, and by institute High frequency voltage is stated as first transmitting coil and the driving voltage of second transmitting coil.
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| CN108695992A (en) * | 2018-04-13 | 2018-10-23 | 中南大学 | The real-time maximum power transfer method of 3-D wireless electric energy transmission system |
| CN108964295A (en) * | 2018-05-25 | 2018-12-07 | 中南大学 | A kind of metal foreign matter detecting method of radio energy transmission system |
| CN109462293A (en) * | 2018-09-27 | 2019-03-12 | 深圳市华禹无线供电技术有限公司 | A kind of receiving coil location determining method of omnidirection radio energy transmission system |
| CN109617265A (en) * | 2018-12-29 | 2019-04-12 | 深圳蔚蓝无限科技有限公司 | Radio energy emitter and its control method, computer readable storage medium |
| WO2020051912A1 (en) * | 2018-09-14 | 2020-03-19 | 哈尔滨工业大学（深圳） | Underwater wireless communication transmission device and method, and sensor |
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| CN112928831A (en) * | 2021-02-05 | 2021-06-08 | 杭州诺为医疗技术有限公司 | Positioning method, device and system for guiding charging of implantable closed-loop system |
| CN113300480A (en) * | 2021-06-07 | 2021-08-24 | 哈尔滨工业大学 | Two-phase X-shaped dynamic wireless power supply guide rail with strong lateral movement capability and constant received power |
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